/*
 * InertialData.h
 *
 *  Created on: Nov 13, 2013
 *      Author: parzival
 */

#ifndef INERTIALDATA_H_
#define INERTIALDATA_H_

#include <stdio.h>
#include <time.h>
#include <string.h>
#include <cstdlib>
#include <errno.h>
#include <sys/socket.h>
#include <resolv.h>
#include <arpa/inet.h>
#include <unistd.h>

#define MY_PORT		9923//9999
#define MAXBUF		1024
#define UDP			true

#define USPI 150
#define BIAS 300
#define CLIFF 3

#define ABS(x) (x > 0 ? x : -x)

/*
 * This class controls the data from the sensors, and disables all motors in case
 * of a fall. It also contains the code for getting up from a fall.
 */
class InertialData {
public:
	InertialData();
	virtual ~InertialData();
	bool isFalling();
};

#endif /* INERTIALDATA_H_ */
